osd-contiki/platform/avr-ravenusb/contiki-raven-main.c
2011-07-11 11:34:04 -04:00

716 lines
21 KiB
C

/*
* Copyright (c) 2006, Technical University of Munich
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*
* @(#)$$
*/
/**
* \file
* Contiki 2.4 kernel for Jackdaw USB stick
*
* \author
* Simon Barner <barner@in.tum.de>
* David Kopf <dak664@embarqmail.com>
*/
#define DEBUG 0
#if DEBUG
#define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
#else
#define PRINTD(...)
#endif
#include <avr/pgmspace.h>
#include <avr/fuse.h>
#include <avr/eeprom.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <stdio.h>
#include <string.h>
#include "lib/mmem.h"
#include "loader/symbols-def.h"
#include "loader/symtab.h"
#include "contiki.h"
#include "contiki-net.h"
#include "contiki-lib.h"
#include "contiki-raven.h"
/* Set ANNOUNCE to send boot messages to USB or RS232 serial port */
#define ANNOUNCE 1
/* But only if a serial port exists */
#if USB_CONF_SERIAL||USB_CONF_RS232
#define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
#else
#define PRINTA(...)
#endif
#include "usb_task.h"
#if USB_CONF_SERIAL
#include "cdc_task.h"
#endif
#if USB_CONF_RS232
#include "dev/rs232.h"
#endif
#include "rndis/rndis_task.h"
#if USB_CONF_STORAGE
#include "storage/storage_task.h"
#endif
#include "dev/watchdog.h"
#include "dev/usb/usb_drv.h"
#if JACKDAW_CONF_USE_SETTINGS
#include "settings.h"
#endif
#if RF230BB //radio driver using contiki core mac
#include "radio/rf230bb/rf230bb.h"
#include "net/mac/frame802154.h"
#define UIP_IP_BUF ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
rimeaddr_t macLongAddr;
#define tmp_addr macLongAddr
#else //legacy radio driver using Atmel/Cisco 802.15.4'ish MAC
#include <stdbool.h>
#include "mac.h"
#include "sicslowmac.h"
#include "sicslowpan.h"
#include "ieee-15-4-manager.h"
#endif /* RF230BB */
/* Test rtimers, also useful for pings, time stamps, routes, stack monitor */
#define TESTRTIMER 0
#if TESTRTIMER
#define PINGS 0
#define STAMPS 60
#define ROUTES 120
#define STACKMONITOR 600
uint8_t rtimerflag=1;
uint16_t rtime;
struct rtimer rt;
void rtimercycle(void) {rtimerflag=1;}
#endif /* TESTRTIMER */
#if UIP_CONF_IPV6_RPL
/*---------------------------------------------------------------------------*/
/*--------------------------------- RPL ----------------------------------*/
/*---------------------------------------------------------------------------*/
/* TODO: Put rpl code into another file, once it stabilizes */
/* Set up fallback interface links to direct stack tcpip output to ethernet */
static void
init(void)
{
}
void mac_LowpanToEthernet(void);
static void
output(void)
{
// if(uip_ipaddr_cmp(&last_sender, &UIP_IP_BUF->srcipaddr)) {
/* Do not bounce packets back over USB if the packet was received from USB */
// PRINTA("JACKDAW router: Destination off-link but no route\n");
// } else {
PRINTD("SUT: %u\n", uip_len);
mac_LowpanToEthernet(); //bounceback trap is done in lowpanToEthernet
// }
}
const struct uip_fallback_interface rpl_interface = {
init, output
};
#if RPL_BORDER_ROUTER
#include "net/rpl/rpl.h"
// avr-objdump --section .bss -x ravenusbstick.elf
uint16_t dag_id[] PROGMEM = {0x1111, 0x1100, 0, 0, 0, 0, 0, 0x0011};
PROCESS(border_router_process, "RPL Border Router");
PROCESS_THREAD(border_router_process, ev, data)
{
PROCESS_BEGIN();
PROCESS_PAUSE();
{ rpl_dag_t *dag;
char buf[sizeof(dag_id)];
memcpy_P(buf,dag_id,sizeof(dag_id));
dag = rpl_set_root((uip_ip6addr_t *)buf);
/* Assign separate addresses to the jackdaw uip stack and the host network interface, but with the same prefix */
/* E.g. bbbb::200 to the jackdaw and bbbb::1 to the host network interface with $ip -6 address add bbbb::1/64 dev usb0 */
/* Otherwise the host will trap packets intended for the jackdaw, just as the jackdaw will trap RF packets intended for the host */
/* $ifconfig usb0 -arp on Ubuntu to skip the neighbor solicitations. Add explicit neighbors on other OSs */
if(dag != NULL) {
PRINTD("created a new RPL dag\n");
#if UIP_CONF_ROUTER_RECEIVE_RA
//Contiki stack will shut down until assigned an address from the interface RA
//Currently this requires changes in the core rpl-icmp6.c to pass the link-local RA broadcast
#else
uip_ip6addr_t ipaddr;
uip_ip6addr(&ipaddr, 0xbbbb, 0, 0, 0, 0, 0, 0, 0x200);
uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL);
rpl_set_prefix(dag, &ipaddr, 64);
#endif
}
}
/* The border router runs with a 100% duty cycle in order to ensure high
packet reception rates. */
// NETSTACK_MAC.off(1);
while(1) {
PROCESS_YIELD();
/* Local and global dag repair can be done from the jackdaw menu */
// rpl_set_prefix(rpl_get_dag(RPL_ANY_INSTANCE), &ipaddr, 64);
// rpl_repair_dag(rpl_get_dag(RPL_ANY_INSTANCE));
}
PROCESS_END();
}
#endif /* RPL_BORDER_ROUTER */
#endif /* UIP_CONF_IPV6_RPL */
/*-------------------------------------------------------------------------*/
/*----------------------Configuration of the .elf file---------------------*/
#if 1
/* The proper way to set the signature is */
#include <avr/signature.h>
#else
/* Older avr-gcc's may not define the needed SIGNATURE bytes. Do it manually if you get an error */
typedef struct {const unsigned char B2;const unsigned char B1;const unsigned char B0;} __signature_t;
#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
SIGNATURE = {
.B2 = 0x82,//SIGNATURE_2, //AT90USB128x
.B1 = 0x97,//SIGNATURE_1, //128KB flash
.B0 = 0x1E,//SIGNATURE_0, //Atmel
};
#endif
FUSES ={.low = 0xde, .high = 0x99, .extended = 0xff,};
/* Save the default settings into program flash memory */
uint8_t default_mac_address[8] PROGMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
#ifdef CHANNEL_802_15_4
uint8_t default_channel PROGMEM = CHANNEL_802_15_4;
#else
uint8_t default_channel PROGMEM = 26;
#endif
#ifdef IEEE802154_PANID
uint16_t default_panid PROGMEM = IEEE802154_PANID;
#else
uint16_t default_panid PROGMEM = 0xABCD;
#endif
#ifdef IEEE802154_PANADDR
uint16_t default_panaddr PROGMEM = IEEE802154_PANID;
#else
uint16_t default_panaddr PROGMEM = 0;
#endif
#ifdef RF230_MAX_TX_POWER
uint8_t default_txpower PROGMEM = RF230_MAX_TX_POWER;
#else
uint8_t default_txpower PROGMEM = 0;
#endif
#if JACKDAW_CONF_RANDOM_MAC
#include "rng.h"
static void
generate_new_eui64(uint8_t eui64[8]) {
eui64[0] = 0x02;
eui64[1] = rng_get_uint8();
eui64[2] = rng_get_uint8();
eui64[3] = 0xFF;
eui64[4] = 0xFE;
eui64[5] = rng_get_uint8();
eui64[6] = rng_get_uint8();
eui64[7] = rng_get_uint8();
}
#endif /* JACKDAW_CONF_RANDOM_MAC */
#if !JACKDAW_CONF_USE_SETTINGS
/****************************No settings manager*****************************/
/* If not using the settings manager, put the default values into EEMEM
* These can be manually changed and kept over program reflash.
* The channel and bit complement are used to check EEMEM integrity,
* If corrupt all values will be rewritten with the default flash values.
* To make this work, get the channel before anything else.
*/
uint8_t eemem_mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
#ifdef CHANNEL_802_15_4
uint8_t eemem_channel[2] EEMEM = {CHANNEL_802_15_4, ~CHANNEL_802_15_4};
#else
uint8_t eemem_channel[2] EMEM = {26, ~26};
#endif
#ifdef IEEE802154_PANID
uint16_t eemem_panid EEMEM = IEEE802154_PANID;
#else
uint16_t eemem_panid EEMEM = 0xABCD;
#endif
#ifdef IEEE802154_PANADDR
uint16_t eemem_panaddr EEMEM = IEEE802154_PANID;
#else
uint16_t eemem_panaddr EEMEM = 0;
#endif
#ifdef RF230_MAX_TX_POWER
uint8_t eemem_txpower EEMEM = RF230_MAX_TX_POWER;
#else
uint8_t eemem_txpower EEMEM = 0;
#endif
static uint8_t get_channel_from_eeprom() {
uint8_t x[2];
*(uint16_t *)x = eeprom_read_word ((uint16_t *)&eemem_channel);
if((uint8_t)x[0]!=(uint8_t)~x[1]) {//~x[1] can promote comparison to 16 bit
/* Verification fails, rewrite everything */
uint8_t mac[8];
#if JACKDAW_CONF_RANDOM_MAC
PRINTA("Generating random MAC address.\n");
generate_new_eui64(&mac);
#else
{uint8_t i; for (i=0;i<8;i++) mac[i] = pgm_read_byte_near(default_mac_address+i);}
#endif
eeprom_write_block(&mac, &eemem_mac_address, 8);
eeprom_write_word(&eemem_panid , pgm_read_word_near(&default_panid));
eeprom_write_word(&eemem_panaddr, pgm_read_word_near(&default_panaddr));
eeprom_write_byte(&eemem_txpower, pgm_read_byte_near(&default_txpower));
x[0] = pgm_read_byte_near(&default_channel);
x[1]= ~x[0];
eeprom_write_word((uint16_t *)&eemem_channel, *(uint16_t *)x);
}
return x[0];
}
static bool get_eui64_from_eeprom(uint8_t macptr[8]) {
eeprom_read_block ((void *)macptr, &eemem_mac_address, 8);
return macptr[0]!=0xFF;
}
static uint16_t get_panid_from_eeprom(void) {
return eeprom_read_word(&eemem_panid);
}
static uint16_t get_panaddr_from_eeprom(void) {
return eeprom_read_word (&eemem_panaddr);
}
static uint8_t get_txpower_from_eeprom(void)
{
return eeprom_read_byte(&eemem_txpower);
}
#else /* !JACKDAW_CONF_USE_SETTINGS */
/******************************Settings manager******************************/
static uint8_t get_channel_from_eeprom() {
uint8_t x = settings_get_uint8(SETTINGS_KEY_CHANNEL, 0);
if(!x) x = pgm_read_byte_near(&default_channel);
return x;
}
static bool get_eui64_from_eeprom(uint8_t macptr[8]) {
size_t size = 8;
if(settings_get(SETTINGS_KEY_EUI64, 0, (unsigned char*)macptr, &size)==SETTINGS_STATUS_OK) {
PRINTD("<=Get EEPROM MAC address.\n");
return true;
}
#if JACKDAW_CONF_RANDOM_MAC
PRINTA("--Generating random MAC address.\n");
generate_new_eui64(macptr);
#else
{uint8_t i;for (i=0;i<8;i++) macptr[i] = pgm_read_byte_near(default_mac_address+i);}
#endif
settings_add(SETTINGS_KEY_EUI64,(unsigned char*)macptr,8);
PRINTA("->Set EEPROM MAC address.\n");
return true;
}
static uint16_t get_panid_from_eeprom(void) {
uint16_t x;
if (settings_check(SETTINGS_KEY_PAN_ID,0)) {
x = settings_get_uint16(SETTINGS_KEY_PAN_ID,0);
PRINTD("<-Get EEPROM PAN ID of %04x.\n",x);
} else {
x=pgm_read_word_near(&default_panid);
if (settings_add_uint16(SETTINGS_KEY_PAN_ID,x)==SETTINGS_STATUS_OK) {
PRINTA("->Set EEPROM PAN ID to %04x.\n",x);
}
}
return x;
}
static uint16_t get_panaddr_from_eeprom(void) {
uint16_t x;
if (settings_check(SETTINGS_KEY_PAN_ADDR,0)) {
x = settings_get_uint16(SETTINGS_KEY_PAN_ADDR,0);
PRINTD("<-Get EEPROM PAN address of %04x.\n",x);
} else {
x=pgm_read_word_near(&default_panaddr);
if (settings_add_uint16(SETTINGS_KEY_PAN_ADDR,x)==SETTINGS_STATUS_OK) {
PRINTA("->Set EEPROM PAN address to %04x.\n",x);
}
}
return x;
}
static uint8_t get_txpower_from_eeprom(void) {
uint8_t x;
if (settings_check(SETTINGS_KEY_TXPOWER,0)) {
x = settings_get_uint8(SETTINGS_KEY_TXPOWER,0);
PRINTD("<-Get EEPROM tx power of %d. (0=max)\n",x);
} else {
x=pgm_read_byte_near(&default_txpower);
if (settings_add_uint8(SETTINGS_KEY_TXPOWER,x)==SETTINGS_STATUS_OK) {
PRINTA("->Set EEPROM tx power of %d. (0=max)\n",x);
}
}
return x;
}
#endif /* !JACKDAW_CONF_USE_SETTINGS */
/*-------------------------------------------------------------------------*/
/*-----------------------------Low level initialization--------------------*/
static void initialize(void) {
watchdog_init();
watchdog_start();
#if CONFIG_STACK_MONITOR
/* Simple stack pointer highwater monitor. The 'm' command in cdc_task.c
* looks for the first overwritten magic number.
*/
{
extern uint16_t __bss_end;
uint16_t p=(uint16_t)&__bss_end;
do {
*(uint16_t *)p = 0x4242;
p+=100;
} while (p<SP-100); //don't overwrite our own stack
}
#endif
/* Initialize hardware */
// Checks for "finger", jumps to DFU if present.
init_lowlevel();
/* Clock */
clock_init();
/* Leds are referred to by number to prevent any possible confusion :) */
/* Led0 Blue Led1 Red Led2 Green Led3 Yellow */
Leds_init();
Led1_on();
#if USB_CONF_RS232
/* Use rs232 port for serial out (tx, rx, gnd are the three pads behind jackdaw leds */
rs232_init(RS232_PORT_0, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
/* Redirect stdout to second port */
rs232_redirect_stdout(RS232_PORT_0);
#if ANNOUNCE
PRINTA("\n\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
#endif
#endif
/* rtimer init needed for low power protocols */
rtimer_init();
/* Process subsystem. */
process_init();
/* etimer process must be started before USB or ctimer init */
process_start(&etimer_process, NULL);
Led2_on();
/* Now we can start USB enumeration */
process_start(&usb_process, NULL);
/* Start CDC enumeration, bearing in mind that it may fail */
/* Hopefully we'll get a stdout for startup messages, if we don't already */
#if USB_CONF_SERIAL
process_start(&cdc_process, NULL);
{unsigned short i;
for (i=0;i<65535;i++) {
process_run();
watchdog_periodic();
if (stdout) break;
}
#if !USB_CONF_RS232
PRINTA("\n\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
#endif
}
#endif
if (!stdout) Led3_on();
#if RF230BB
#if JACKDAW_CONF_USE_SETTINGS
PRINTA("Settings manager will be used.\n");
#else
{uint8_t x[2];
*(uint16_t *)x = eeprom_read_word((uint16_t *)&eemem_channel);
if((uint8_t)x[0]!=(uint8_t)~x[1]) {
PRINTA("Invalid EEPROM settings detected. Rewriting with default values.\n");
get_channel_from_eeprom();
}
}
#endif
ctimer_init();
/* Start radio and radio receive process */
/* Note this starts RF230 process, so must be done after process_init */
NETSTACK_RADIO.init();
/* Set addresses BEFORE starting tcpip process */
memset(&tmp_addr, 0, sizeof(rimeaddr_t));
if(get_eui64_from_eeprom(tmp_addr.u8));
//Fix MAC address
init_net();
#if UIP_CONF_IPV6
memcpy(&uip_lladdr.addr, &tmp_addr.u8, 8);
#endif
rf230_set_pan_addr(
get_panid_from_eeprom(),
get_panaddr_from_eeprom(),
(uint8_t *)&tmp_addr.u8
);
rf230_set_channel(get_channel_from_eeprom());
rf230_set_txpower(get_txpower_from_eeprom());
rimeaddr_set_node_addr(&tmp_addr);
/* Initialize stack protocols */
queuebuf_init();
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
#if ANNOUNCE
PRINTA("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r",tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]);
PRINTA("%s %s, channel %u",NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
if (NETSTACK_RDC.channel_check_interval) {
unsigned short tmp;
tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
NETSTACK_RDC.channel_check_interval());
if (tmp<65535) PRINTA(", check rate %u Hz",tmp);
}
PRINTA("\n");
#endif
#if UIP_CONF_IPV6_RPL
#if RPL_BORDER_ROUTER
process_start(&tcpip_process, NULL);
process_start(&border_router_process, NULL);
PRINTD ("RPL Border Router Started\n");
#else
process_start(&tcpip_process, NULL);
PRINTD ("RPL Started\n");
#endif
#if RPL_HTTPD_SERVER
extern struct process httpd_process;
process_start(&httpd_process, NULL);
PRINTD ("Webserver Started\n");
#endif
#endif /* UIP_CONF_IPV6_RPL */
#else /* RF230BB */
/* The order of starting these is important! */
process_start(&mac_process, NULL);
process_start(&tcpip_process, NULL);
#endif /* RF230BB */
/* Start ethernet network and storage process */
process_start(&usb_eth_process, NULL);
#if USB_CONF_STORAGE
process_start(&storage_process, NULL);
#endif
/* Autostart other processes */
/* There are none in the default build so autostart_processes will be unresolved in the link. */
/* The AUTOSTART_PROCESSES macro which defines it can only be used in the .co module. */
/* See /examples/ravenusbstick/ravenusb.c for an autostart template. */
#if 0
autostart_start(autostart_processes);
#endif
#if ANNOUNCE
#if USB_CONF_RS232
PRINTA("Online.\n");
#else
PRINTA("Online. Type ? for Jackdaw menu.\n");
#endif
#endif
Leds_off();
}
/*-------------------------------------------------------------------------*/
/*---------------------------------Main Routine----------------------------*/
int
main(void)
{
/* GCC depends on register r1 set to 0 (?) */
asm volatile ("clr r1");
/* Initialize in a subroutine to maximize stack space */
initialize();
#if DEBUG
{struct process *p;
for(p = PROCESS_LIST();p != NULL; p = ((struct process *)p->next)) {
PRINTA("Process=%p Thread=%p Name=\"%s\" \n",p,p->thread,PROCESS_NAME_STRING(p));
}
}
#endif
while(1) {
process_run();
watchdog_periodic();
/* Print rssi of all received packets, useful for range testing */
#ifdef RF230_MIN_RX_POWER
uint8_t lastprint;
if (rf230_last_rssi != lastprint) { //can be set in halbb.c interrupt routine
PRINTA("%u ",rf230_last_rssi);
lastprint=rf230_last_rssi;
}
#endif
#if 0
/* Clock.c can trigger a periodic PLL calibration in the RF230BB driver.
* This can show when that happens.
*/
extern uint8_t rf230_calibrated;
if (rf230_calibrated) {
PRINTA("\nRF230 calibrated!\n");
rf230_calibrated=0;
}
#endif
#if TESTRTIMER
/* Timeout can be increased up to 8 seconds maximum.
* A one second cycle is convenient for triggering the various debug printouts.
* The triggers are staggered to avoid printing everything at once.
* My Jackdaw is 4% slow.
*/
if (rtimerflag) {
rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
rtimerflag=0;
#if STAMPS
if ((rtime%STAMPS)==0) {
PRINTA("%us ",rtime);
if (rtime%STAMPS*10) PRINTA("\n");
}
#endif
rtime+=1;
#if PINGS && UIP_CONF_IPV6_RPL
extern void raven_ping6(void);
if ((rtime%PINGS)==1) {
PRINTA("**Ping\n");
raven_ping6();
}
#endif
#if ROUTES && UIP_CONF_IPV6_RPL
if ((rtime%ROUTES)==2) {
extern uip_ds6_nbr_t uip_ds6_nbr_cache[];
extern uip_ds6_route_t uip_ds6_routing_table[];
extern uip_ds6_netif_t uip_ds6_if;
uint8_t i,j;
PRINTA("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB);
for (i=0;i<UIP_DS6_ADDR_NB;i++) {
if (uip_ds6_if.addr_list[i].isused) {
uip_debug_ipaddr_print(&uip_ds6_if.addr_list[i].ipaddr);
PRINTA("\n");
}
}
PRINTA("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB);
for(i = 0,j=1; i < UIP_DS6_NBR_NB; i++) {
if(uip_ds6_nbr_cache[i].isused) {
uip_debug_ipaddr_print(&uip_ds6_nbr_cache[i].ipaddr);
PRINTA("\n");
j=0;
}
}
if (j) PRINTA(" <none>");
PRINTA("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
for(i = 0,j=1; i < UIP_DS6_ROUTE_NB; i++) {
if(uip_ds6_routing_table[i].isused) {
uip_debug_ipaddr_print(&uip_ds6_routing_table[i].ipaddr);
PRINTA("/%u (via ", uip_ds6_routing_table[i].length);
uip_debug_ipaddr_print(&uip_ds6_routing_table[i].nexthop);
// if(uip_ds6_routing_table[i].state.lifetime < 600) {
PRINTA(") %lus\n", uip_ds6_routing_table[i].state.lifetime);
// } else {
// PRINTA(")\n");
// }
j=0;
}
}
if (j) PRINTA(" <none>");
PRINTA("\n---------\n");
}
#endif
#if STACKMONITOR && CONFIG_STACK_MONITOR
if ((rtime%STACKMONITOR)==3) {
extern uint16_t __bss_end;
uint16_t p=(uint16_t)&__bss_end;
do {
if (*(uint16_t *)p != 0x4242) {
PRINTA("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end);
break;
}
p+=100;
} while (p<RAMEND-10);
}
#endif
}
#endif /* TESTRTIMER */
//Use with RF230BB DEBUGFLOW to show path through driver
#if RF230BB&&0
extern uint8_t debugflowsize,debugflow[]; //in rf230bb.c
if (debugflowsize) {
debugflow[debugflowsize]=0;
PRINTA("%s",debugflow);
debugflowsize=0;
}
#endif
}
return 0;
}